DE102017221617A1 - Traffic jam estimation system and method - Google Patents

Abstract

A system and method for controlling a host vehicle in a convoy of vehicles. The method includes receiving a leading vehicle speed data from the leading vehicle via a vehicle communication network and receiving a preceding vehicle speed data from a sensor system of the host vehicle. The preceding vehicle is positioned immediately in front of the host vehicle. The leading vehicle is positioned in front of the host vehicle and the preceding vehicle. The method includes calculating a transfer function between the leading vehicle and the host vehicle and determining a string stability level of the convoy of vehicles based on the transfer function. The string stability stage indicates a speed variation of the convoy of vehicles. Further, the method includes calculating a traffic jam based on the string stability level and controlling a vehicle system of the host vehicle based on the traffic jam level.

Description

RELATED APPLICATIONS

This application claims the priority of the provisional U.S. Patent Application S / N 62/442333 filed on 4 January 2017, the entirety of which is hereby incorporated by reference.

GENERAL PRIOR ART

Traffic congestion is an increasing problem in many transport networks, leading to vehicle safety risks and driver frustration. In many cases, the driver of a host vehicle may be unaware of the traffic congestion or of unexpected and / or sudden traffic flow problems. Speed disturbances in front of the host vehicle may spread to the host vehicle causing sudden stops, jerks, abrupt acceleration or collisions.

With the increasing use of wireless vehicle communications, such as Vehicle-to-Vehicle (V2V), Vehicle-to-Infrastructure (V2I), and Vehicle-to-Everything (V2X) communication, the exchange of information can mitigate the effects of traffic congestion and speed issues , In particular, this information may be used to predict traffic congestion, provide early warnings, and control driving functions (e.g., cooperative adaptive cruise control). The host vehicle, in turn, can predict traffic flow disturbances and provide a comfortable and safe driving experience with smooth acceleration and braking.

SUMMARY

In one aspect, a computer-implemented method for controlling a host vehicle with respect to a leading vehicle and a preceding vehicle, wherein the host vehicle, the leading vehicle and the preceding vehicle are within a convoy of vehicles, comprising receiving leading vehicle speed data from the leading one Vehicle via a vehicle communication network. The leading vehicle is positioned in front of the host vehicle and the preceding vehicle. Further, the method includes receiving speed data of the preceding vehicle from a sensor system of the host vehicle. The preceding vehicle is positioned immediately in front of the host vehicle. Further, the method includes calculating a transfer function between the leading vehicle and the host vehicle as a correlation between the leading vehicle speed data and the preceding vehicle speed data. The method includes determining a string stability level of the convoy of vehicles based on the transfer function. The string stability stage indicates a speed variation of the convoy of vehicles. The method also includes calculating a traffic congestion based on the string stability level and controlling a vehicle system of a host vehicle based on the traffic congestion level.

In another aspect, a computer-implemented method of controlling a host vehicle with respect to a leading vehicle and a preceding vehicle, wherein the host vehicle, the leading vehicle and the preceding vehicle are within a convoy of vehicles, comprising receiving speed data of the leading vehicle from leading vehicle via a vehicle communications network. The leading vehicle is positioned in front of the host vehicle and the preceding vehicle. The system includes a sensor system of the host vehicle for acquiring the speed data of the preceding vehicle. The preceding vehicle is positioned immediately in front of the host vehicle. The system includes a processor operatively connected to the sensor system and the wireless transceiver for computer communication. The processor calculates a transfer function between the leading vehicle and the host vehicle as a ratio between an input of the leading vehicle and an output of the preceding vehicle. The input of the leading vehicle is based on the speed data of the leading vehicle and the output of the preceding vehicle is based on the speed data of the preceding vehicle. The processor determines a string stability level based on the transfer function over a period of time. The processor calculates a traffic jam based on the string stability level and controls the host vehicle based on the traffic jam level.

In another aspect, a non-transitory computer-readable storage medium for controlling a host vehicle with respect to a leading vehicle and a preceding vehicle, wherein the host vehicle, the leading vehicle, and the preceding vehicle are within a convoy of vehicles, comprising instructions. The instructions are executed by a processor and cause the processor to receive leading vehicle speed data from the leading vehicle via a vehicle communications network. The leading vehicle is positioned in front of the host vehicle and the preceding vehicle. The processor receives from a sensor system of the host vehicle speed data of the preceding vehicle. The preceding vehicle is positioned immediately in front of the host vehicle. The processor calculates a transfer function between the leading vehicle and the host vehicle as a correlation between the leading vehicle speed data and the preceding vehicle speed data. Further, the processor determines a string stability level of the convoy of vehicles based on the transfer function. The string stability stage indicates a speed variation of the convoy of vehicles. The processor calculates a traffic jam based on the string stability level and controls a vehicle system of the host vehicle based on the traffic jam level.

list of figures

• 1 FIG. 10 is an exemplary traffic scenario using a vehicle communications network according to an example embodiment; FIG.
• 2 FIG. 10 is a block diagram of a vehicle control system of a vehicle according to an example embodiment; FIG.
• 3 FIG. 10 is a schematic view of a C-ACC control model for controlling a vehicle control system according to an example embodiment; FIG.
• 4 FIG. 10 is a process flow diagram of a method for controlling a host vehicle including a congestion estimation according to an example embodiment; FIG. and
• 5 FIG. 10 is a process flow diagram of a method of controlling a host vehicle by calculating an acceleration control rate according to an example embodiment.

DETAILED DESCRIPTION

The following statements contain definitions of selected terms used here. The definitions include various examples and / or forms of components that fall within the scope of a term and that may be used for implementation. The examples are not intended to be limiting. Further, the components discussed herein may be combined with other components, omitted or organized, or arranged in different architectures.

As used herein, "bus" refers to an interconnected architecture that is operatively connected to other computer components in a computer or between computers. The bus can transfer data between the computer components. The bus may be, among other things, a memory bus, a memory processor, a peripheral bus, an external bus, a crossbar switch, and / or a local bus. The bus may also be a vehicle bus that interconnects components within a vehicle using protocols such as Media Oriented Systems Transport (MOST), Processor Area Network (CAN), Local Interconnect Network (LIN), and others.

"Component" as used herein refers to a computer instance (e.g., hardware, firmware, instructions in execution, combinations thereof). Computer components may include, for example, a process running on a processor, a processor, an object, an executable statement, an execution thread, and a computer. A computer component (s) may reside in a processor and / or thread. A computer component may be located on a computer and / or partitioned between multiple computers.

"Computer communication" as used herein refers to communication between two or more computing devices (eg, computer, personal digital assistant, mobile phone, network device) and may include, for example, network transmission, file transfer, applet transfer, e-mail, the transmission of a Hypertext Transfer Protocol (HTTP) and so on. For example, a computer communication may be via a wireless system (eg, IEEE 802.11 ), an Ethernet system (eg IEEE 802.3 ), a token-ring system (eg IEEE 802.5 ), a Local Area Network (LAN), a Wide Area Network (WAN), a point-to-point system, a loop circuit system, a packet switching system.

"Computer-readable medium" as used herein refers to a non-volatile medium that stores instructions and / or data. A computer-readable medium may take forms, including nonvolatile media and volatile media. Nonvolatile media may include, for example, optical disks, magnetic disks and so on. Volatile media may include, for example, semiconductor memory, dynamic memory, and so on. Common forms of computer-readable media may include a floppy disk, a film storage disk, a hard disk, a magnetic tape, another magnetic medium, an ASIC, a CD, other optical media, a RAM, a ROM, a memory chip or a memory card, a memory stick, and others media from which a computer, processor or other electronic device can read.

"Database" as used herein is used to refer to a table. In other examples, "database" may be used to refer to a number of tables. In still other examples, "database" may refer to a number of data stores and methods for accessing and / or editing those data stores. For example, a database may be stored on a floppy disk and / or a memory.

As used herein, "floppy disk" may be, for example, a magnetic disk drive, a solid state hard disk, a floppy disk drive, a tape drive, a zip drive, a flash memory card, and / or a memory stick. Further, the floppy disk may be a CD-ROM (Compact Disk ROM), a CD-writable drive (CD-R drive), a CD-rewritable drive (CD-RW drive) and / or a digital video ROM drive ( DVD ROM). The diskette may store an operating system that controls or allocates the resources of a computing device.

"Input / output device" (I / O device) as used herein may include devices for receiving inputs and / or devices for outputting data. The input and / or output may be for controlling various vehicle features, such as, but not limited to, various vehicle components, systems, and subsystems. In particular, the term "input device" includes but is not limited to: keyboard, microphones, pointing and selecting devices, cameras, imaging devices, video cards, displays, pushbuttons, knobs, and the like. The term "input device" additionally includes input graphical controls that occur within a user interface that may be displayed by various types of mechanisms, such as software and hardware based controls, interfaces, touchscreens, touchpads, or plug-and-play devices. An "output device" includes, among other things, display devices and other devices for outputting information and functions.

"Logic circuitry" as used herein includes, but is not limited to, hardware, firmware, a non-transitory computer-readable medium that stores instructions, instructions in execution on one machine, and / or an action (s) of another logic circuitry, another module, another Method and / or another system (eg execute).

Logic circuits may include and / or be part of an algorithm controlled processor, a discrete logic (e.g., ASIC), an analog circuit, a digital circuit, a programmed logic device, a memory device containing instructions, and so on. Logic may include one or more gates, gate combinations or other circuit components. Where several logics are described, it may be possible to incorporate multiple logics into one physical logic. Likewise, where a single logic is described, it may be possible to split that single logic between multiple physical logics.

"Memory" as used herein may include volatile memory and / or nonvolatile memory. A nonvolatile memory may include, for example, ROM (Read Only Memory), PROM (Programmable Read Only Memory), EPROM (Erasable PROM), and EEPROM (Electrically Erasable PROM). Volatile memory may include, for example, Random Access Memory (RAM), Synchronous RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), and Direct RAM Bus RAM (DRRAM). The memory may store an operating system that controls or allocates the resources of a computing device.

"Active connection" or a connection over which units are "operatively connected" is a connection in which signals, physical communication and / or logical communication can be sent and / or received. An active connection may include a wireless interface, a physical interface, a data interface and / or an electrical interface.

"Module" as used herein includes, but is not limited to, a non-transitory computer readable medium containing instructions, machine instructions, hardware, firmware, software executed on a machine, and / or combinations thereof to perform a function (s) or functions Stores action (s) and / or to initiate a function or action from another module, method, and / or system. A module may also include logic, a software controlled microprocessor, a discrete logic circuit, an analog circuit, a digital circuit, a programmed logic device, a memory device containing executive instructions, logic gates, a combination of gates, and / or other circuit components , Several modules can be combined into one module and individual modules can be divided between several modules.

"Portable device" as used herein is a computing device that typically has a user-entered display screen (eg, touch, keyboard) and a processor for computing. Portable devices include, but are not limited to, hand-held devices, mobile devices, smart phones, laptops, tablets, and e-readers.

"Processor" as used herein processes signals and performs general computational and arithmetic functions. Signals processed by the processor may include digital signals, data signals, computer instructions, processor instructions, messages, a bit, a bit stream that may be received, transmitted, and / or detected. In general, the processor may be a variety of different processors, including multiple single and multi-core processors and co-processors, and other multiple single and multi-core processor and co-processor architectures. The processor may include logic circuits for performing actions and / or algorithms.

"Vehicle" as used herein refers to any vehicle that is capable of carrying one or more human occupants and that is powered by any form of energy. The term "vehicle" includes, but is not limited to, automobiles, trucks, vans, minivans, SUVs, motorcycles, scooters, boats, go-karts, amusement vehicles, railroads, private watercraft and aircraft. In some cases, a motor vehicle includes one or more motors. Further, the term "vehicle" may refer to an electric vehicle (EV) that is capable of carrying one or more human occupants and that is fully or partially powered by one or more electric motors via an electric battery. The EV may include Battery Operated Vehicles (BEV) and Plug-in Hybrid Electric Vehicles (PHEV). The term "vehicle" may also refer to an autonomous vehicle and / or self-propelled vehicle powered by any form of energy. The autonomous vehicle may carry one or more human occupants. Further, the term "vehicle" may include vehicles that are automated or non-automated with predetermined paths, or free-moving vehicles.

"Vehicle display" as used herein may include, but is not limited to, LED screens, LCD screens, CRT display, plasma screens, touch screen displays, and others commonly found in vehicles for displaying information about the vehicle. The display may receive inputs (e.g., inputs via the touch screen, keyboard inputs, inputs from various other input devices, etc.) from a user. The display can be located at different positions of the vehicle, for example on the dashboard or center console. In some embodiments, the display is inter alia part of a portable device (e.g., owned or associated with a vehicle occupant), a navigation system, an infotainment system.

"Vehicle control system" and / or "vehicle system" as used herein may include, among other things, any automatic or manual system that may be used to enhance the vehicle, driving, and / or safety. Exemplary vehicle systems include, among others, an electronic stability control system, an antilock braking system, a brake assist system, an automatic brake refill system, a low-speed follow system, a cruise control system, a collision warning system, a collision mitigation braking system, an automatic cruise control system, a lane departure warning system, a system for displaying the vehicle blind spot, a lane departure warning system, a navigation system, a transmission system, brake pedal systems, electronic power steering system, visual devices (eg, camera systems, proximity sensors), an air conditioning system, an electronic pretensioner system, a monitoring system, a seat occupancy detection device, a vehicle suspension system, a vehicle seat configuration system, a lighting system for the vehicle interior, an audio system, a sensor system, an indoor and outdoor camera system and others.

The systems and methods described herein are generally directed to controlling a vehicle using a vehicle communications network that may include multiple vehicles and infrastructures. Communicating information using a vehicle communications network and / or acquiring information about other vehicles enables synergistic control of a host vehicle in the context of a traffic scenario, particularly in areas of congested traffic congestion or other traffic flow problems. Thus, the methods and systems described herein provide traffic congestion estimates and cooperative adaptive cruise control (C-ACC) using a vehicle communications network. 1 illustrates an example traffic scenario 100 using a vehicle communication network for traffic congestion estimation according to an example embodiment. The traffic scenario 100 includes one or more vehicles on a carriageway 102 , In particular, a host vehicle (HV) 104 , a vehicle in front 106 , an engaging vehicle 108 , an engaging vehicle 110 and a leader vehicle 112 shown in the same lane on the road 102 drive.

In some embodiments, vehicles may be located away from the host vehicle 104 located (ie the preceding vehicle 106 , an engaging vehicle 108 , an engaging vehicle 110 and a leading vehicle 112 ), as remote vehicles or a plurality of remote vehicles. In some embodiments, the host vehicle (HV) 104 , the vehicle in front 106 , the engaging vehicle 108 , the engaging vehicle 110 and the leading vehicle 112 referred to as a column of vehicles, a fleet of vehicles or a series of vehicles. As discussed herein, the column of vehicles is generally passed through the element 124 designated. It is understood that on the road 102 or inside the convoy of vehicles 124 Any number of vehicles can be located. Furthermore, the roadway 102 in other embodiments have different configurations and any number of tracks.

In 1 is the vehicle in front 106 positioned immediately in front of the host vehicle 104. The leading vehicle 112 is in front of the host vehicle 104 , the vehicle in front 106 , the intervening vehicle 108 and the intervening vehicle 110 positioned. Thus, in 1 the leading vehicle 112 at a foremost position of the convoy of vehicles 124 , In other embodiments, the leading vehicle 112 however, be another vehicle, for example the intervening vehicle 110 , Further, it is understood that there may be any number of intervening vehicles (eg, more than two, less than two) between the preceding vehicle 106 and the leading vehicle 112 can give.

In the systems and methods discussed herein, the host vehicle may 104 based in part on the data on one or more of the vehicles on the roadway 102 controlled via a vehicle communication network (see 2 ). In particular, the vehicle communication described herein may be implemented using Dedicated Short Range Communications (DSRC). However, it should be understood that the vehicle communication described herein may be implemented with any communication or network protocol, such as ad hoc networks, in-vehicle wireless access, cellular networks, WiFi networks (eg, IEEE 802.11 ), Bluetooth, WAVE, CALM and others. Further, the vehicle communication network may be Vehicle-to-Vehicle (V2V), Vehicle-to-Infrastructure (V2I) or Vehicle-to-Everything (V2X).

In 1 can the host vehicle 104 Communication that includes, transmits, receives, and / or exchanges data, messages, images, and / or other information with other vehicles, users, or infrastructures configured for DSRC communication. In particular, the host vehicle 104 equipped with a Vehicle-to-Vehicle (V2V) transceiver 114 that transmits messages and information to other vehicles, users, or infrastructures equipped with computer communication (eg, for DSRC communication) with the host vehicle 104 are operable, can exchange. In 1 can the host vehicle 104 using the V2V transceiver 114 via a V2V transceiver 116 with the leading vehicle 112 communicate. As in 1 shown is between the host vehicle 104 and the leading vehicle 112 a communication connection 118 manufactured for V2V communication.

In the 1 shown column of vehicles 124 illustrates a low DSRC penetration or a mixed condition because not every vehicle is equipped for V2V communication. In 1 are only the host vehicle 104 and the leading vehicle 112 equipped for V2V communication. Furthermore, in 1 Each vehicle is equipped with a sensor system (eg a radar system of a C-ACC or ACC system). It is understood that other configurations of V2V communication and detection, not in 1 are shown, can be implemented. However, in the embodiments discussed herein, V2V communication is only between the host vehicle 104 and the leading vehicle 112 required. While V2V communication is introduced, there will likely be numerous vehicles (eg older vehicles) without V2V capability. Accordingly, the embodiments discussed herein operate under low penetration conditions under which each vehicle does not communicate with each other.

In 1 can the host vehicle 104 using the V2V transceiver 114 with a wireless network antenna 120 and / or Roadside Equipment (RSE) 122. Likewise, the host vehicle 112 via the V2V transceiver 116 also with the wireless network antenna 120 and / or RSE 122 communicate. Although it is not in 1 1, the vehicle communication network may include other wireless communication networks, receivers, servers, and / or providers that are hosted by the host vehicle 104 or the leading vehicle 112 can be accessed.

Now it will open 2 , a block diagram of a vehicle control system 202 that within a vehicle communications network 200 can be operated, reference is made. The vehicle control system 202 Can for V2V communication with the leading vehicle 112 over the communication connection 118 operate. The vehicle control system 202 is related to the host vehicle 104 described; however, some or all of the components and functionalities associated with the in 2 shown vehicle, with the leading vehicle 112 be implemented. Similarly, some or all of the components and functionalities associated with the in 2 shown vehicle, with the preceding vehicle 106 , the intervening vehicle 108, the intervening vehicle 110 or any other vehicle. In addition, the vehicle control system 202 in some embodiments discussed herein, is referred to as C-ACC control system 202. Other C-ACC systems associated with some vehicles may include different elements and / or arrangements; however, they can be configured to operate over the vehicle communications network 200 communicate with one or more other C-ACC systems or vehicle control systems. Furthermore, the vehicle control system 202 in some embodiments may be associated with another type of vehicle system, or may be a general vehicle computing device that provides the functions described herein.

The vehicle control system 202 includes a processor 204 , a memory 206, a floppy disk 208 and a communication interface 210 each one being for example via a bus 212 operable to communicate with computer. The processor 204 may include logic circuitry (not shown) to facilitate traffic jam estimation, along with the hardware, firmware, and software architecture frameworks. Thus, the processor can 204 in some embodiments, among other things, store application frameworks, kernels, libraries, drivers, application programming interfaces to execute and control the hardware and functions discussed herein. In some embodiments, the memory may be 206 and / or the floppy disk 208 similar components as the processor 204 for execution by the processor 204 to save. In some embodiments, for example, the processor may 204 and / or the memory 206 Instructions include directly (for example, a machine code) or indirectly (for example, scripts) by the processor 204 must be executed. For example, the instructions may be stored as computer code on the computer-readable medium. In this regard, the terms "instructions" and "programs" may be used interchangeably herein. The instructions may be in object code format for direct processing by the processor 204 or in any other computer language that contains scripts or collections of independent source code modules that can be interpreted upon request or compiled in advance. The disk 208 can store data by the processor 204 can be retrieved, modified or saved.

The communication interface 210 may include software and hardware that controls the input and output of data between the components of the vehicle control system 202 and other components and / or other vehicles discussed herein. As discussed above, the communication interface may be 210 For example, the V2V transceiver 114 may be included over the communication link 118 with compatible DSRC transceivers in the vehicle communications network 200 can communicate.

The vehicle control system 202 can (eg over the bus 212 ) also with vehicle systems 214 , a sensor system 216 and an interface system 218 communicate. As will be discussed later herein, the vehicle control system 202 one of the vehicle systems 214 be. For example, in some embodiments, the C-ACC control system 202 is a type of vehicle system 214 , The vehicle systems 214 Among other things, they may include any automatic or manual system that can be used to improve the vehicle, driving and / or safety. Exemplary vehicle systems include, among others, an electronic stability control system, an antilock braking system, a brake assist system, an automatic brake refill system, a low-speed follow system, a cruise control system, a collision warning system, a collision mitigation braking system, an automatic cruise control system, a lane departure warning system, a system for displaying the vehicle blind spot, a lane departure warning system, a navigation system, a transmission system, brake pedal systems, electronic power steering system, visual devices (eg, camera systems, proximity sensors), an air conditioning system, an electronic pretensioner system, a monitoring system, a seat occupancy detection device, a vehicle suspension system, a vehicle seat configuration system, a lighting system for the vehicle interior, an audio system, a sensor system, an indoor and outdoor camera system and others.

The sensor system 216 includes various vehicle sensors that store data internally and / or externally from the host vehicle 104 capture and / or measure up. In particular, the sensor system 216 Vehicle sensors for detecting and measuring a stimulation (eg, a signal, a property, a measurement, and a quantity) associated with the host vehicle 104 and / or a particular vehicle system of the host vehicle 104 connected. In some embodiments, the vehicle sensors are for detecting and measuring a stimulation associated with a vehicle and / or an object in the vicinity of the host vehicle 104 connected is. In particular, the sensor system 216 Data for identifying and tracking the movement of traffic units, for example, the preceding vehicle 106 , collect.

It is understood that the sensor system 216 may include all types of vehicle sensors used in any vehicle system for detecting and / or detecting a parameter of that system. Exemplary vehicle sensors include, but are not limited to, acceleration sensors, speed sensors, brake sensors, proximity sensors, vision sensors, seat sensors, seat belt sensors, door sensors, environmental sensors, yaw rate sensors, steering sensors, GPS sensors, and others. It should also be understood that the vehicle sensors may be any type of sensor, for example, acoustic, electrical, environmental, optical, imaging, lighting, printing, power engineering, thermal engineering, temperature engineering, proximity, and others. The vehicle sensors could be in one or more sections of the host vehicle 104 be arranged. For example, the vehicle sensors could be in a dashboard, seat, seat belt, door, instrument panel, steering wheel, center console, roof, or any other portion of the host vehicle 104 to get integrated. In other cases, however, the vehicle sensors could be portable sensors carried by a driver (not shown), integrated into a portable device (not shown) carried by the driver, in an article of clothing (not shown) worn by the driver Driver is worn, integrated, or integrated into the body of the driver (for example, an implant).

In one embodiment, the sensor system includes 216 a front-mounted long-range radar and / or a front-mounted mid-range radar. In 1 , for example, all have on the road 102 located vehicles a front-mounted long-range radar, as shown by the lines that emanate from the front of each vehicle. The front-mounted long-range radar can measure the distance (eg, sideways, longitudinal) and the speed of the objects that host the vehicle 104 surround. The front-mounted long-range radar can control the distance and speed of the vehicle ahead 106 measure up. In some embodiments, the sensor system 216 a plurality of radar devices at different locations of the host vehicle 104 have (not shown). For example, a front left mounted radar in a front left corner area of the host vehicle 104 , a front right mounted radar in a front right corner area of the host vehicle 104 , a rear left mounted radar in a rear left corner area of the host vehicle 104 and a rear right mounted radar in a rear left corner area of the host vehicle 104 ,

Furthermore, the host vehicle includes 104 an interface system 218 that may be used to receive input from a user (eg, a driver, a vehicle occupant), and / or provide feedback to the user. Accordingly, the interface system 218 a display part and an input part. In some embodiments, the interface system is 218 a human machine interface (HMI) and / or a front panel (HUD) that resides in the host vehicle 104 located. The interface system 218 may receive one or more user inputs from one or more users. Through the input part of the interface system 218 For example, a user, such as a driver or vehicle occupant, may be allowed to interact with the input, such as user input, gestures, clicks, points, selections, voice commands, etc., or the host vehicle 104 and / or the vehicle control system 202 provide. For example, in some embodiments, a user may have the vehicle control system 202 and / or the control features of the vehicle control system 202 through interaction with the interface system 218 activate.

For example, the input part of the interface system 218 as a vehicle display, a touchscreen, a touchpad, a trackpad, one or more hardware buttons (eg, on a radio or steering wheel), one or more buttons, such as one or more soft buttons, one or more software buttons, one or more interactive buttons, one or more switches, a keyboard, a microphone, one or more sensors, etc. are implemented. In one or more embodiments, the interface system 218 be implemented so that a display part is integrated so that the interface system 218 both provides output (eg, displays content as display part) as well as receives input (eg, user input). Other examples of input parts may include a microphone for receiving the voice input of a user.

The interface system 218 can display information (eg graphics, alerts and notifications). The vehicle control system 202 For example, it may generate information, suggestions, warnings, and / or alarms, and this information to a vehicle operator on a display device (eg, display part) of the interface system 218 provide. The information, warnings, etc. may include, but are not limited to, one or more navigation maps, icons, icons, graphics, colors, images, photographs, videos, text, audio information, and more. The interface system 218 may also include other systems that provide visual, auditory, and / or tactile / haptic feedback to a user. For example, an active force pedal (AFP) may be part of an accelerator pedal (not shown) in the host vehicle 104 included, which provides the driver's foot active feedback force when the driver depresses the accelerator pedal.

As mentioned above, in some embodiments, the systems and methods discussed herein control the host vehicle 104 using data about the preceding vehicle 106 and data about the leading vehicle 112. In particular, in one embodiment, the C-ACC control system 202 may retrieve the data from the leading vehicle 112 via the vehicle communication network 200 receive and can receive data about the preceding vehicle 106 using the sensor system 216 (eg radar sensor) aboard the host vehicle 104 receive. The fusion and analysis of this data can be used to host the vehicle 104 to control it and the host vehicle 104 to allow it to preventively respond to traffic disruptions affecting the operation or driveway of the host vehicle 104 can affect. The exemplary control by the C-ACC control system 202 will now be described in detail.

In some embodiments discussed herein, the movement of the host vehicle 104 For example, be controlled by a C-ACC control system 202. In particular, the C-ACC control system 202 may be motions of the host vehicle 104 in the longitudinal direction using the data discussed above. For example, the C-ACC control system 202 may control acceleration and / or deceleration by generating an acceleration control rate and / or modifying a current acceleration control rate (eg, a desired acceleration rate). In other embodiments, the C-ACC control system 202 may be the interface system 218 control to provide feedback and alerts.

Now, referring to 3 a schematic C-ACC control model 300 for controlling the host vehicle 104 shown. 3 is related to the components of 1 - 2 described. The control model 300 receives as inputs V2V data of the remote vehicle 302 , collected data of the remote vehicle 304 and host vehicle data 306 , The V2V data of the remote vehicle 302 include dynamic data of the remote vehicle via one or more remote vehicles transmitted via the vehicle communications network 200 be communicated. In particular, in one embodiment, the V2V data of the remote vehicle 302 Include data from the leading vehicle 112 were received. The V2V data of the remote vehicle 302 may include, but is not limited to, speed, acceleration, speed, yaw rate, steering angle and throttle angle, range and distance data of the remote vehicle. The V2V data of the remote vehicle 302 may also include direction control data, direction history data, planned direction data, kinematic data, current vehicle position data, and any vehicle information about the remote vehicle that transmitted the V2V data of the remote vehicle.

The collected data of the remote vehicle 304 may have data about one or more remote vehicles and / or objects in the vicinity of the host vehicle 104 involve, via the sensor system 216 received and / or recorded. In particular, in one embodiment, the captured data of the remote vehicle 304 Include data from the host vehicle 104 over the preceding vehicle 106 were received. The collected data of the remote vehicle 304 may also include vehicle data provided by a radar system (eg, the sensor system 216 ), including approximate data. The collected data of the remote vehicle 304 For example, the distance and speed of one or more remote vehicles may include the host vehicle 104 surrounded, for example, the preceding vehicle 106 ,

The host vehicle data 306 include vehicle dynamics data about the host vehicle 104 , For example, data about speed, acceleration, speed, yaw rate, steering diaper, throttle angle, range or distance. The host vehicle data 306 can from the sensor system 216 over the bus 212 be called. The host vehicle data 306 may also provide status information about various vehicle systems 214 include. The host vehicle data 306 For example, turn signal status, direction control data, direction history data, scheduled direction data, kinematic data, current vehicle position data, and any vehicle information about the remote vehicle 104 and / or the vehicle system 214 include.

The V2V data of the remote vehicle 302 , the captured data of the remote vehicle 304 and the host vehicle data 306 may be entered into the C-ACC control system 202 and processed using the methods described in greater detail herein. The C-ACC control system 202 may issue acceleration and / or deceleration commands (eg, via the processor 204 ) to execute the commands to the corresponding vehicle system 214. A brake actuator 310 and a throttle actuator 312 For example, they can be part of the vehicle system 214 (eg a brake system). The HMI 314 can be part of the interface system 218 be. The C-ACC control system 202 may generate, as an illustrative example, an acceleration control rate that is a target acceleration rate for the host vehicle 104 can be. Based on the current acceleration rate of the host vehicle 104 For example, the C-ACC control system 202 may generate a control signal to achieve the acceleration control rate. The control signal may be executed in accordance with the control signal to the brake actuator 310 and / or the throttle actuator 312 be sent.

In addition, the C-ACC control system 202 may issue commands to the HMI 314 (eg the interface system 218 ) To run. Based on the V2V data of the remote vehicle 302 that collected data of the remote vehicle 304 and the data of the host vehicle 306 For example, a visual, audible and / or tactile feedback may be generated and transmitted via the HMI 314 to be provided. Accordingly, the host vehicle 104 based on the merger of the V2V data of the remote vehicle 302 that collected data of the remote vehicle 304 and the data of the host vehicle 306 controlled according to the methods which will now be described in more detail.

Now, referring to 4 a process flow diagram of a method 400 for controlling the host vehicle 104 including a congestion estimation according to an example embodiment. 4 is related to 1 - 3 described. In general, the procedure is used 400 for controlling the host vehicle 104 in terms of the leading vehicle 112 and the preceding vehicle 106 , As above 1 discussed, is the vehicle in front 106 immediately in front of the host vehicle 104 positioned. The leading vehicle 112 is in front of the host vehicle 104 and the vehicle in front 106 positioned. In the embodiments discussed herein, the host vehicle 104 , the preceding vehicle 106 and the leading vehicle 112 Part of a column of vehicles 124 , The column of vehicles 124 in 1 includes the host vehicle 104 , the vehicle in front 106 , an engaging vehicle 108 , an engaging vehicle 110 and the leading vehicle 112 , Thus, in some embodiments, the leading vehicle 112 at the forefront of the column of vehicles 124 , Further, the column has vehicles 124 as above 1 discussed a low penetration of V2V communication capability. In other words, some vehicles are in the convoy of vehicles 124 not equipped for V2V communication (eg the intervening vehicle 108 and the intervening vehicle 110 ).

Referring again to 4 includes the procedure 400 in one embodiment at block 402 receiving speed data of the leading vehicle 112 through the leading vehicle 112 via the vehicle communication network 200 , The host vehicle 104 Using the V2V transceiver 114, for example, using the V2V transceiver 116, speed data (eg, V2V data of the remote vehicle 302 ) from the leading vehicle 112 receive. To simplify the communication between the host vehicle 104 and the leading vehicle 112 the communication connection 118 produced. The communication connection 118 can be made between the V2V transceivers. The V2V transceiver 114 may, for example, continuously search for signals from other V2V transceivers, such as by emitting a periodic signal looking for a response. In other embodiments, the V2V transceiver 114 may transmit periodic signals that are seeking a response from a V2V transceiver that is within range. If a V2V transceiver answers, then a communication connection can be made.

As above 3 discussed, the host vehicle can 104 (eg using a processor 204 ) V2V data of a remote vehicle 302 from a leading vehicle 112 receive. This may include speed data, for example a speed of the leading vehicle 112 and / or an acceleration of the leading vehicle 112 , In some embodiments, the V2V data is the remote vehicle 302 contained in a news package from the leading vehicle 112 is transmitted. The message packet may, for example, be in a Basic Safety Message (BSM) format as defined for DSRC standards. Vehicles can periodically transmit BSMs to communicate their position, speed and other attributes to other vehicles. The host vehicle 104 received information and data can be stored in memory 206 and / or the floppy disk 208 saved and from the processor 204 are processed.

Referring again to 4 can the procedure 400 at block 404 receiving speed data of the preceding vehicle 106 from the sensor system 216 of the host vehicle 104 include. Thus, the host vehicle 104 as above 3 discussed captured data of the remote vehicle 304 over the preceding vehicle 106 from the sensor system 216 (eg over the processor 204 ) received. The collected data of the remote vehicle 304 can include speed data. The collected data of the remote vehicle 304 For example, a speed of the preceding vehicle 106 and / or an acceleration of the preceding vehicle 106 include. In other embodiments, the captured data of the remote vehicle may be 304 a distance between the host vehicle 104 and the vehicle in front 106 include. It is understood that in some embodiments at block 404 the procedure 400 accessing data of the host vehicle 306 from the host vehicle 104 for example, from the sensor system 216 includes.

wobei V_PV eine Geschwindigkeit des vorausfahrenden Fahrzeugs 106 und V_LV eine Geschwindigkeit des führenden Fahrzeugs 112 ist. Somit ist die Übertragungsfunktion gemäß einer Ausführungsform eine Korrelation zwischen den Geschwindigkeitsdaten des führenden Fahrzeugs 112 und den Geschwindigkeitsdaten des vorausfahrenden Fahrzeugs 106. In einer Ausführungsform, wie bei Gleichung (1) beschrieben, ist die Übertragungsfunktion eine Korrelation zwischen der Geschwindigkeit des führenden Fahrzeugs 112 und der Geschwindigkeit des vorausfahrenden Fahrzeugs 106. In einer weiteren Ausführungsform ist die Übertragungsfunktion eine Korrelation zwischen der Beschleunigung des führenden Fahrzeugs 112 und der Beschleunigung des vorausfahrenden Fahrzeugs 106.At block 406 includes the procedure 400 calculating a transfer function between the leading vehicle 112 and the host vehicle 104 , In one embodiment, the processor 204 the transfer function between the leading vehicle 112 and the host vehicle 104 to calculate. The transfer function can be based on the speed data of the leading vehicle 112 , the speed data of the preceding vehicle 106 and the data of the host vehicle 306 based. The transfer function can be the propagation of disturbances (eg speed disturbances) from the leading vehicle 112 on the host vehicle 104 based solely on the DSRC from the leading vehicle 112 received speed data and that of the preceding vehicle 106 recorded speed data (eg radar data from the sensor system 216 ) estimate. Thus, speed deviations between the vehicles that are not equipped for V2V communication are in the convoy of vehicles 124 ignored. In one embodiment, the transfer function is expressed mathematically as follows: $$G_{HV}=\frac{V_{PV}}{V_{LV}}$$

where V _{PV is} a speed of the preceding vehicle 106 and V _{LV is} a speed of the leading vehicle 112 is. Thus, according to one embodiment, the transfer function is a correlation between the speed data of the leading vehicle 112 and the speed data of the preceding vehicle 106 , In one embodiment, as described in equation (1), the transfer function is a correlation between the speed of the leading vehicle 112 and the speed of the preceding vehicle 106 , In another embodiment, the transfer function is a correlation between the acceleration of the leading vehicle 112 and the acceleration of the preceding vehicle 106 ,

In another embodiment, the transfer function may be a ratio between the input of the leading vehicle 112 and the output of the preceding vehicle 106 be. The input of the leading vehicle 112 may be based on the speed data of the leading vehicle 112 based and the output of the preceding vehicle 106 may be based on the speed data of the preceding vehicle 106. In one embodiment, as described in equation (1), the transfer function is a ratio between a speed of the leading vehicle 112 and a speed of the preceding vehicle 106 , In another embodiment, the transfer function is a ratio between the acceleration of the leading vehicle 112 and the acceleration of the preceding vehicle 106 ,

Correspondingly, the transfer function can cause speed disturbances in the convoy of vehicles 124 that focus on the host vehicle 104 on the basis of that of the preceding vehicle 106 recorded speed data and the speed data from the leading vehicle 112 estimated. Over a period, patterns between the preceding vehicle 106 and the leading vehicle. In other words, the input of the leading vehicle 112 indicating the output of the preceding vehicle 106 causes to be analyzed for speed disturbances over a period of time. When the leading vehicle 112 For example, abruptly slowed down (eg the input), this speed change causes a behavior when driving ahead 106 , for example slowing down (eg the output). Thus, in one embodiment, the transfer function may be calculated over a period of time. Accordingly, equation (1) can also be expressed as a time series of real values, for example: $$G_i=\left(G_{H{V}_i}\cdots G_{H{V}_N}\right)$$

Based on the above and again with respect to 4 includes the procedure 400 at block 408 determining a string stability level of the convoy of vehicles 124 on Basis of the transfer function. In one embodiment, the string stability stage shows a speed variation of the convoy of vehicles 124 at. The term "string stability level" as used throughout this detailed description and claims refers to any numerical or other value for distinguishing between two or more states of stability of the vehicles in a convoy of vehicles 124 (eg a number of vehicles). For example, in some cases, the string stability level is associated with a respective standalone state, such as "unstable,""slightlyunstable," and "stable." In other cases, the string stability level could be given as a percentage between 0% and 100% or a value in the range between 1 and 10. In the embodiments discussed herein, the string stability stage may be one in memory 206 and / or on the floppy disk 208 stored variables that are to be used by the processor for use with the methods and systems discussed herein 204 certain value is set.

$${\left|G_{i\text{,}i-1}\right|}_{\infty }\le 1$$

In one embodiment, the processor determines 204 the string stability level based on the transfer function over time. In particular, the transfer function is evaluated to determine an unstable string stability level or a stable string stability level. In one embodiment, the string stability level may be expressed mathematically as follows: $${\left|G_{i\text{.}i-1}\right|}_{\infty }>1$$

$${\left|G_{i\text{.}i-1}\right|}_{\infty }\le 1$$

If the transfer function is greater than a transfer function as shown in equation (3), the string stability level is set to unstable. If the transfer function is less than or equal to a transfer function as shown in equation (4), the string stability level is set to stable.

At block 410 includes the procedure 400 calculating a traffic jam based on the string stability level. Similar to the string stability level discussed above, the term "traffic jam" as used throughout this detailed description and claims refers to any numerical or other value for distinguishing between two or more states of congestion in a convoy of vehicles 124 (eg a number of vehicles). For example, in some cases, the traffic jam is associated with a respective stand-alone condition such as "congestion", "congestion", and "congestion". In other cases, the traffic jam could be given as a percentage between 0% and 100% or a value in the range between 1 and 10. In the embodiments discussed herein, the traffic jam may be one in memory 206 and / or on the floppy disk 208 stored variables that are to be used by the processor for use with the methods and systems discussed herein 204 certain value is set.

In one embodiment, the processor calculates 204 with an unstable string stability level, the traffic jam as high. At a stable string stability level, the processor calculates 204 the traffic jam is low. With reference to the illustrative example discussed above, when the leading vehicle 112 abruptly slows down and slows down other vehicles in the convoy of vehicles 124 (eg the preceding vehicle 106 ) increases with decreasing distance to the host vehicle 104, the string stability of the convoy of vehicles is unstable and the vehicles in front of the host vehicle 104 are close to each other, so the traffic jam is high.

Accordingly, the method includes 400 at block 412 the control of one or more of the vehicle systems 214 of the host vehicle 104 based on the traffic jam. For example, in one embodiment, the processor 204 the interface system 218 so as to provide a visual, audible or tactile indication of the traffic jam. For example, a graph may be generated based on the traffic jam and on the HMI 314 are displayed. The graph can provide real-time feedback of the traffic jam. For example, if the traffic jam is high, the graphic may be displayed in red. If the traffic jam is low, the graphic can be displayed in green. In some embodiments, the block 412 provided control a function of the traffic jam. Thus, for example, the intensity of the feedback provided at the HMI 314 may vary as a function of the traffic jam.

In other embodiments, the processor 204 the automatic control of the host vehicle 104 provide, for example, the control of the longitudinal movement based on the traffic jam. Now, referring to 5 a procedure 500 for controlling the host vehicle 104 by calculating an acceleration control rate according to an example embodiment. At block 502 includes the procedure 500 calculating an acceleration control rate of the host vehicle 104 , for example, based on the speed data of the preceding vehicle 106 and the speed data of the leading vehicle 112 , In one embodiment, the acceleration control rate is based on one or more relative distances between the host vehicle 104 and the vehicle in front 106 in terms of a traffic distance, a relative speed between the host vehicle 104 and the vehicle in front 106 , an acceleration of the vehicle ahead 106 and an acceleration of the leading vehicle 112 ,

wobei x_i-1 ein Abstand von einem hinteren Ende des Hostfahrzeugs 104 zum vorderen Ende des vorausfahrenden Fahrzeugs 106 ist, x_i eine Länge des Hostfahrzeugs 104 ist, hẋ_i ein vorbestimmter Verkehrsbezugsabstand ist, L_PV die Länge des vorausfahrenden Fahrzeugs 106 ist, ν_i-1 eine Geschwindigkeit des vorausfahrenden Fahrzeugs 106 ist, ν_i die Geschwindigkeit des Hostfahrzeugs 104 ist, a_i-1 eine vom Sensorsystem 216 erkannte Beschleunigungsrate des vorausfahrenden Fahrzeugs 106 ist und a_L eine vom Hostfahrzeug 104 vom führenden Fahrzeug 112 unter Verwendung von DSRC über das Fahrzeugkommunikationsnetzwerk 200 empfangene Beschleunigungsrate des führenden Fahrzeugs 112 ist.The relative distance between the host vehicle 104 and the vehicle in front 106 can be on captured data of the remote vehicle 304 over the preceding vehicle 106 (eg distance data) and the host vehicle 306 based. The traffic distance is a desired separation (eg distance) between the host vehicle 104 and the vehicle in front 106 , The traffic reference distance can be predetermined and stored, for example in memory 206 , The relative speed between the host vehicle 104 and the vehicle in front 106 can also be on captured data of the remote vehicle 304 over the preceding vehicle 106 (eg a speed of the preceding vehicle 106 ) and the host vehicle 306 (eg a speed of the host vehicle 104 ). As discussed above, the acceleration of the preceding vehicle is discussed 106 based on the collected data of the remote vehicle 304 over the preceding vehicle 106 certainly. Further, the acceleration of the preceding vehicle 112 from the host vehicle 104 via V2V communication from the leading vehicle 112 receive. Accordingly, the processor 204 in one embodiment, the rate of acceleration control for the host vehicle 104 calculate according to the following equation: $$\begin{array}{l}{a}_{ref}=K_p\left(x_{i-1}-x_i-H{\dot{x}}_i-L_{PV}\right)+K_v\left(v_{i-1}-v_i\right)\\ +\left(K_{a_{PV}}\cdot a_{i-1}+K_{dsrc}\cdot a_L\right)\end{array}$$

where x _{i-1 is} a distance from a rear end of the host vehicle 104 to the front end of the preceding vehicle 106 x _{i is} a length of the host vehicle 104 is Hx _i is a predetermined traffic reference distance, L the length of the _PV preceding vehicle 106 is, ν _i-1, a speed of the preceding vehicle 106 where ν _{i is} the speed of host vehicle 104, a _{i-1 is} one from the sensor system 216 detected acceleration rate of the preceding vehicle 106 is and _{L is} one of the host vehicle 104 from the leading vehicle 112 using DSRC via the vehicle communications network 200 received acceleration rate of the leading vehicle 112 is.

Further, as shown in equation (5), the acceleration control rate may be calculated based on various variable gains including a vehicle speed dynamic gain K _p , a vehicle speed dynamic gain K _v , a preceding vehicle acceleration dynamic gain K _aPV , a dynamic gain _{factor of} the acceleration of the leading vehicle K _dsrc . Thus, in one embodiment, the acceleration control rate may be based on the speed data of the preceding vehicle 106 , the speed data of the leading vehicle 112 and the variable gain. As will now be described in more detail, the variable gain is the dynamic gain of the leading vehicle acceleration K _dsrc .

In one embodiment, variable gain may be used to calculate the rate of acceleration control at block 504 be calculated. Specifically, one with the speed data of the leading vehicle 112 associated variable gain based on the at block 408 from 4 specific string stability level. Thus, in one embodiment, the dynamic gain of the leading vehicle acceleration K _{dsrc is calculated} based on the string stability level. The processor 204 may be the acceleration control rate of the host vehicle 104 modify using the variable gain. In particular, the acceleration rate of the leading vehicle received via V2V communication 112 according to the variable gain shown in equation (5). In one embodiment, the variable gain varies as a function of the string stability level. Thus, the variable gain increases with increasing the string stability level (eg, indicating an unstable level).

At block 506 includes the procedure 500 controlling the host vehicle 104 by controlling the movement of the host vehicle 104 according to the acceleration control rate. For example, the acceleration control rate may be output by the C-ACC control system 202 to one or more vehicle systems 214 according to the acceleration control rate. In other words, the vehicle systems 214 so controlled that they are the acceleration control rate based in part on the current acceleration of the host vehicle 104 achieve. Thus, the C-ACC control system 202 may begin to host the host vehicle 104 based on the acceleration control rate by controlling the brake actuator 310 and / or the throttle actuator 312 to slow down or accelerate automatically. For example, the C-ACC control system 202 may set the target Acceleration control rate of the C-ACC control system 202 to that at block 506 set the calculated acceleration control rate. Based on the current acceleration rate of the host vehicle 104 For example, the C-ACC control system 202 may generate a control signal to achieve the desired acceleration control rate. The control signal may be executed in accordance with the control signal to the brake actuator 310 and / or the throttle actuator 312 are sent to achieve the target acceleration control rate.

Alternatively or simultaneously with the acceleration and / or deceleration of the host vehicle 104 may be controlling one or more of the vehicle systems 214 of the host vehicle 104 controlling the interface system 218 as mentioned above. For example, the C-ACC control system 202 may generate information, suggestions, warnings, and / or alarms, and those on the HMI 314 to provide to a driver. In other embodiments, the tactile feedback may be provided according to the acceleration control rate. Accordingly, the host vehicle 104 Traffic jam in the column of vehicles 124 as anticipated above, and the host vehicle 104 automatic control provides a smoother C-ACC experience with early vehicle control based on congestion.

The embodiments discussed herein may also be described and implemented in the context of the computer-readable storage medium storing computer-executable instructions. Computer readable storage media include computer storage media and communication media. For example, flash memory drives, digital versatile disks (DVDs), compact discs (CDs), floppy disks and magnetic tape cassettes. Computer readable storage media may include volatile and nonvolatile, removable and non-removable media that may be implemented in any method or technology for storing information such as computer readable instructions, data structures, modules, or other data. Computer readable storage media excludes nonvolatile physical media and propagated data signals.

It should be understood that various implementations of the above-disclosed and other features and functions or alternatives or variations thereof may desirably be combined with many other different systems or applications. Also, various alternatives, modifications, variations, or improvements thereof, which are not foreseen or anticipated at present, may thereafter be made by those skilled in the art, which are also intended to that extent.

A system and method for controlling a host vehicle in a convoy of vehicles. The method includes receiving a leading vehicle speed data from the leading vehicle via a vehicle communication network and receiving a preceding vehicle speed data from a sensor system of the host vehicle. The preceding vehicle is positioned immediately in front of the host vehicle. The leading vehicle is positioned in front of the host vehicle and the preceding vehicle. The method includes calculating a transfer function between the leading vehicle and the host vehicle and determining a string stability level of the convoy of vehicles based on the transfer function. The string stability stage indicates a speed variation of the convoy of vehicles. Further, the method includes calculating a traffic jam based on the string stability level and controlling a vehicle system of the host vehicle based on the traffic jam level.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• US 62442333 [0001]

Claims (20)

A computer-implemented method of controlling a host vehicle with respect to a leading vehicle and a preceding vehicle, wherein the host vehicle, the leading vehicle and the preceding vehicle are within a convoy of vehicles, comprising: Receiving speed data of the leading vehicle from the leading vehicle via a vehicle communication network, wherein the leading vehicle is positioned in front of the host vehicle and the preceding vehicle; Receiving speed data of the preceding vehicle from a sensor system of the host vehicle, wherein the preceding vehicle is positioned immediately in front of the host vehicle; Calculating a transfer function between the leading vehicle and the host vehicle as a correlation between the leading vehicle speed data and the preceding vehicle speed data; Determining a string stability level of the convoy of vehicles based on the transfer function, the string stability score indicating a speed variation of the convoy of vehicles; Calculating a traffic jam based on the string stability level; and Controlling a vehicle system of the host vehicle based on the traffic jam. Computer-implemented method according to Claim 1 wherein the speed data of the preceding vehicle is a speed of the preceding vehicle, and the speed data of the leading vehicle is a speed of the leading vehicle. Computer-implemented method according to Claim 2 wherein the transfer function between the leading vehicle and the host vehicle is the correlation between the speed of the preceding vehicle and the speed of the leading vehicle. Computer implemented method according to one of Claims 1 to 3 wherein the convoy of vehicles is a series of vehicles on a road that includes the host vehicle, the preceding vehicle, one or more remote vehicles, and the leading vehicle, the leading vehicle being at the foremost position of the convoy of vehicles. Computer implemented method according to one of Claims 1 to 4 comprising calculating an acceleration control rate of the host vehicle based on the preceding vehicle speed data and the leading vehicle speed data. Computer implemented method according to one of Claims 1 to 5 comprising calculating a variable gain based on the string stability level. Computer-implemented method according to Claim 6 wherein calculating an acceleration control rate of the host vehicle is based on the preceding vehicle speed data, the leading vehicle speed data, and the variable gain. Computer implemented method according to one of Claims 5 to 7 wherein controlling the vehicle system of the host vehicle includes controlling the vehicle system according to the acceleration control rate to control the movement of the host vehicle. A vehicle control system for controlling a host vehicle with respect to a leading vehicle and a preceding vehicle, wherein the host vehicle, the leading vehicle, and the preceding vehicle are within a convoy of vehicles, comprising: a wireless transceiver of the host vehicle for receiving speed data of the leading vehicle from the leading vehicle via a vehicle communication network, wherein the leading vehicle is positioned in front of the host vehicle and the preceding vehicle; a sensor system of the host vehicle for acquiring the speed data of the preceding vehicle, wherein the preceding vehicle is positioned immediately in front of the host vehicle; and a processor operatively connected to the sensor system and the wireless transceiver for computer communication, the processor comprising: calculating a transfer function between the leading vehicle and the host vehicle as a ratio between an input of the leading vehicle and an output of the preceding vehicle, wherein the input of the leading vehicle on the speed data of the leading vehicle and the output of the preceding vehicle on the speed data of the preceding vehicle based; determines a string stability level based on the transfer function over a period of time; calculate a traffic jam based on the string stability level; and controls the host vehicle based on the traffic jam. Vehicle control system according to Claim 9 , wherein the speed data of the preceding vehicle, a speed of the leading vehicle, and the speed data of the leading vehicle is a speed of the leading vehicle. Vehicle control system according to Claim 10 wherein the transfer function is the ratio between the input of the leading vehicle and the output of the preceding vehicle and the input of the leading vehicle is the speed of the leading vehicle and the output of the preceding vehicle is the speed of the preceding vehicle. Vehicle control system according to one of Claims 9 to 11 wherein the convoy of vehicles has a low penetration of vehicle-to-vehicle communication capability. Vehicle control system according to one of Claims 9 to 12 wherein the processor calculates an acceleration control rate of the host vehicle based on the preceding vehicle speed data and the leading vehicle speed data. Vehicle control system according to Claim 13 wherein the processor modifies the acceleration control rate of the host vehicle with a variable gain, wherein the variable gain is based on the string stability level. Vehicle control system according to Claim 13 or 14 wherein the processor controls the host vehicle by controlling movement of the host vehicle according to the acceleration control rate. A non-transitory computer-readable storage medium for controlling a host vehicle with respect to a leading vehicle and a preceding vehicle, wherein the host vehicle, the leading vehicle, and the preceding vehicle are within a convoy of vehicles, comprising instructions that, when executed by a processor, cause the processor: Receiving speed data of the leading vehicle from the leading vehicle via a vehicle communication network, wherein the leading vehicle is positioned in front of the host vehicle and the preceding vehicle; Receiving speed data of the preceding vehicle from a sensor system of the host vehicle, wherein the preceding vehicle is positioned immediately in front of the host vehicle; a transfer function between the leading vehicle and the host vehicle is calculated as a correlation between the leading vehicle speed data and the preceding vehicle speed data; determines a string stability level of the convoy of vehicles based on the transfer function, the string stability stage indicating a speed variation of the convoy of vehicles; calculate a traffic jam based on the string stability level; and controls a vehicle system of the host vehicle based on the traffic jam. Non-volatile, computer-readable storage medium after Claim 16 wherein the transfer function between the leading vehicle and the host vehicle is the correlation between a speed of the preceding vehicle and a speed of the leading vehicle. Non-volatile, computer-readable storage medium after Claim 16 or 17 wherein the processor calculates an acceleration control rate of the host vehicle based on the preceding vehicle speed data and the leading vehicle speed data. Non-volatile, computer readable storage medium after one of Claims 16 to 18 wherein the processor calculates a variable gain based on the string stability level. Non-volatile, computer-readable storage medium after Claim 19 wherein the processor calculates an acceleration control rate of the host vehicle based on the preceding vehicle speed data, the leading vehicle speed data, and the variable gain.

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